Motor control system



De.31, 1935. K, HUBBAD -2,025,749

. uowon com-gon Systran Filed Feb. 17, 195s s sheets-'sheet 1 A6. Source INVENT R Kara Hfzbbara Dec. 31, 1935. K H. HUBBARD 2,025,749

MOTOR CONTROL SYSTEM Filed Feb. 17, 1953 3 Sheets-Sheet 2 AoRNEY K. HUBBARD 2,025,749

MOTOR CONTROL SYSTEM Filed Feb. l?, 1933 3 Sheets-Sheet 3 lNvEN .Karl HTIgbba/d Patented ee. 31, 193s ill-if @FFME spontanea n, rees, serrer ne. esigere M; @tain as.

This invention to oontroi systems and more particuiarly to motor control systems.

in various control systems it is necessary to move a i ber to predetermined position and member in that position without any overthrow or oscillating movement about said pesition. The present invention, therefore, has ier its main object the provision of a novel and reliable arrangement which accomplishes this re suit and which is, nevertheless, simple and economical to manufacture.

in its more speciiic aspects, the invention includes a gaivanometer which mechanically con- -trols the adjustment of switching mechanism 'gg whereby a reversible motor is selectively operated to adjust a member to a predetermined point without overthrow and without oscillation about this point.

Referring to the drawings, Fig. l diagrama@ maticaliy represents a simplified showing of the eiectricai circuits of an automatic recording pyrometer system; Fig. 2 is a diagrammatic showing of the electrical circuits and certain portions oi the mechanical equipment employed in the pyrometer system; and Figs. 3 and 4 are respectively a front elevation and a plan .view ci the mechanism for operating a switching device under the control of a galvanometer needle.

Referring especially to Figi, there is indicated a conventional potentiometer network generally designated 5, which includes the battery 6, the slide wire resistor 1, a stationary wiping contactor 8 engaging this resistor, the thermocouple 9, the galvanometer I0 and' the resistors Il and 42. An operating network, controlled in part by the potentiometer network includes a reversi-E ble A. C. series motor I3 having the iield circuits I4 and I5 and the armature I6. The circuits of this motor are controlled by a switch generally designated S whereby the forward or reverse windings of the motor I3 are connected in circuit to govern the forward or reverse rotation of this motor. Across a portion of the operating network there is connected the primary winding iii of transformer il, being adjustably connected at tapped points such as iSa and 2da on the resistors I9 and 20, while the secondary winding 94 oi this transformer is connected in series with a rec tier 93, the purpose for which will be herein- 5o after set forth.

By referring to Fig. 2, it will be noted that the reversible motor i3 has a fly-wheel 2l mounted on its shaft to retard the 'starting motion of the motor in order to prevent it from reaching a relatively high speed on very small ternu perature changes. The E2 of the motor drives the worin 223 which engages the worm gear 2d. This worin gear; which rotates on the 25, carries the slide wire resistor to change the relation of this element with respect to the sta.- 5 I tionary wiper 8, and also carries a` drum 28, which drives a metal tape il carrying stylus 28. The movement of this tape is guided by the rollers 2S and 3Q to move the stylus 2t transversely across the chart 3l, which is driven by a rotating roll m 32 carried by the shaft This shaft is driven by the worm gear Sli from worm 35 carried by the shaft 3@ which, in turn, is driven by Worm gear 31 and Worm 38 actuated by the continu ously operating synchronous motor 38. lThe shaft g5 36, which is thus continuously driven, carries the rotating cams lili, di and As best shown in Fig. 3, the cam itil operates the link 43 by a reciprocating motion. `This link is provided with a slot di to receive the shaft il@ and is also provided 20 with a roller or cam follower @Si to engage the periphery of the cam titl. The link 43 at its left end, as herein illustrated, is pivoted at 46 to an arm 4l, the upper end oi which is secured to one end of the sleeve 48 having a portion pass- 25 ing through a bearing in the supporting plate 49. At the other end of this sleeve, there is secured a cam plate 50 notched at its upper edge as indicated at 5| to engage a pin 52. The pin 52 is carried by a stepped lever 53 pivoted in a suit- 30 able support (not shown) at point 54. 'I'he left end of this lever is so shaped that its upper edge is formed'with three steps shown as 'an upper portion 55, an intermediate portion 5S and to restrict the swinging of the galvanometer needle 40 to a very small movement in order that. it may respond quickly. Thus these stops serve to keep the galvanometer needle very close to the center point between the stops, even in cases where in their absence the galvanometer needle would 45 have a large deflection. By this arrangement the galvanometer needle can return to its center position in a minimum amount of time when-the current through the galvanometer coil is reduced to zero. The right hand portion of the lever 53 has 50 connected thereto a thin fiat spring which supports the notched shutter plate 6|. It should be pointed out that the right hand end of the lever 53 is heavier than the left hand end so that when the pin 52 is not supported by the cam 5d, 55

the right end oi the lever will drop until some one of the portions 55, 5S or 5l at the left end thereof rests against the galvanometer needle 58.

' eter needle,V this needle, although it is elevated v slightly, is held against abnormal upward movement by this plate.

It has been mentioned that the rotating shaft 36 carries cams fil and ft2. Cam d2 is engaged by the cam follower il mounted on the lever 'i2 which lever is pivoted at its right hand end on the shaft 6d. The free end of the leverl? isy formed with steps as shown at 55a. and del) to engage the shutter plate l Near the free end of this lever there is provided a pin 'i3 which engages the slot 5l in the link 68. The upper end of this link is pivoted at d8a to the switch actuating arm 69 which arm is pivoted at lu. The cam t! is engaged by the cam follower @2 carried bythe lever t3 which is pivoted at its right end on the shaft et. The free end of the lever d3 is formed with the steps'the same in shape as those O'n the free end of the lever l2 and likewise cooperates with the shutter plate el. Near the free end of the lever 63, there is likewise provided a pin 66 Vwhich is received in a slot ill in the lower end of the link l5, the upper end of which link is pivoted at 75a to the arm Se. The free end of thevarm 69 has a drum portion 'l provided with staggered projections Tl, i8, 'i9 and 8B which engage, in diierent combinations, a series of normally open contacter springs Sla and a, etc., to bring them into closed condition.

By way of example, it is assumed that shaft 36, rotating at a speed of 60 R. P. M. will cause the left end of the lever 5S to be raised and lowered once every second, through the action of the members including the lever i3 and the cam plate 50 engaging the pin 52. This motion of the lever 53 takes place in about one quarter of a second and its left end remains in its lowered position about three quarters of a second. During this lastinterval of time the galvanometer needle 56 is free to swing and if the potentiometer network 5 is balanced, the galvanometer needle 5i? willi remain in its intermediate position, that is, in the notch 5l. Ii', however. the potentiometer network is unbalanced during this period of unrestricted swing of the galvanometer needle E59, this needle will be deected to the left or to the right, as the case may be, until it rests against one oi the stops Eis. if it be assumed that the galva- Vnometer needle has been deected to the left, the

lever 53 when next released under the action of cam plate d@ will contact with the galvanometer needle 5d at step 56. However, if the galvanorneter needle is deflected to the right, the part 5S oi?V the lever SS will engage the galvanometer needle. Thus these three possible positions of the lever E3 provide three dijerent ways of obstructing the motion of levers @3 and i2. The cams di and i2 are identical and hold the levers d3 and l2 in the position shown in Fig. 3 for the greater part of each of their revolutions, that is to say, for about seven-eighties of a second. During the remaining one-eighth of e. second the notches in `these cams permit the levers ed and 'l2 to rotate upward around shaft l under the control of springs such as e2. This motion of theselevers, however, can only take place when the two slots in the plate t9 are unrestricted by the shutter plate 6I. lt has been mentioned that the free end of each of the levers 63 and l2 'is shaped p its intermediate position. If it be assumed that soas to' form two steps 55a, and 65h, while the outer edge of the shutter plate 6l is so shaped that the levers 63 and 'l2 may operate in several dierent ways.

lIn the first shutter position shown in Figs. 3 5 and e, both of the slots in plate t9 are ,partially obstructed so that the levers 63 and 'l2 may rotate a small angle until steps 65h, thereof rest against the shutter plate. In the second position of the shutter plate, the upper slot (Fig. 4) in 10 plate i9 is unobstructed while the lower slot thereof is completely obstructedso that lever l2 passes completely through the slot while the step 55a of lever t3 rests against the. shutter and keeps this lever in its original position. In the `15 third position of the shutter plate, the last-named conditions with respect to the shutter plate are reversed, so that the lever 63 passes through the lower slot and lever 'l2 remains stationary.

The notches in the cams di and t2 and in the 20 cam iii are so timed that the motion of the levers 63 and "i2, requiring about one-eighth of a second, occurs within the quarter second period during which the shutter plate remains stationary in one of its three positions. The levers 63 25 and i2 respectively carry the pins 66 and 13 which ride in the slot lli of link 'l5 and in the slot 6l of link t8. These links actuate switch arm S9, which is pivoted at 10 to rock the drum 'it with the projections lll to 86 inclusive, to 30 various positions, thereby` closing various pairs of springs 9i and 92 (Fig. 2) to complete different circuit combinations in the networks of Figs. land 2. The drum andthe pairs of springs actuated thereby constitute a multiposition pro- 35 gressively movable switching means.

The operation of the system is as follows: As long as the potentiometer network 5 is balanced, the galvanometer needle St remains in the vposition shown in Fig. 4, that is, in engagement with 40 thermocouple 9 is exposed, changes, the'potential across this thermocouple changes and unbalances 50 the potentiometernetwork thereby causing current to iiow through the galvanometer coil and resistors il and i2 with the result that the galvanometer'needle 58 will be deiiected from the galvanometer needle is deflected toward the lett, the switch drum l will be operated to close the two pairs of switch springs, 92C with @te and @2e with alla, as indicated in Fig. 1. The

closing of these springs will immediately cause G the motor i3 to operate in a circuit traceable from the alternating current source, conductor d5, spring 92a, spring tia, motor field iii, armature it, resistor le, conductor et', to the other side oi the A. C. source. The motor id will U5 rotate the slide wire resistor i4 with respect to the contact d in the proper direction until the potentiometer network is again balanced. On the establishing of this balanced condition, the needle ,58 will then return to its intermediate 70 position and consequently the switch arm through the action of links te, l5 and the levers 63 and l2, will be moved to a position where the switch drum 'it will be restored to one of its;

intermediate positions to make contact between 5 store the balance thereof, rotatable switching means mechanically controlled by said galvanometer, anda circuit completed by' said switching means through one winding of said motor to adjust said system toward a balanced condition, said switching means being responsive to an approximate restoration of the balance of said system for interrupting the operating circuit of said motor and for completing a second circuit therefor through its other eld Winding for stopping said motor.

5. In an arrangement of the class described, a normally balanced electrical system, means therein responsive to a changed condition for disturbing the balance of said system, a galvanometer connected in said system and responsive to the lack of balance therein, ananticipating circuit for decreasing said lack of balance, a reversible motor havingA a forward and a reverse eld winding operable to adjust said system to restore the balance thereof, selectively rotatable switching means mechanically controlled by said galvanometer, a circuit completed by said switching means through one winding of said motor to adjust said system toward` a balanced condition, said switching means being responsive to an approximate restoration of the balance of said network for'interrupting the operating circuit of said motor and for completing a circuit therefor through its other field winding for stopping said motor.

6. In an arrangement of the class described.

va normally balanced system including a galvanometer provided with a needle, means for ,disturbing the balance of said system, a member movable to balance said system at a new balance point, a reversible motor for adjusting said member, and progressively movable rotatable switching means mechanically controlled by said gaivanometer needle for completing operating circuits for said motor.

7. In an arrangement ci the class described, a normally balanced system including a galvanorneter needle, means :for disturbing the balance oi said system whereby said galvanometer is operated in response to said lack of balance,

a movable member, operating means including a reversible motor and circuits therefor tov move said member to restore the balance of said systern, and reversible multi-position switching means mechanically responsive to said galvanometer needle for selectively completing said circuits.

8. In a system of the class described, a normaiiy balanced network including means for disturbing the balance o said network and a galvanometer to indicate the lack of balance thereof, a member adjustable tc decrease the lack of balance of said network, means for additionally decreasing the imbalance of said network, a reversible motor for operating said member, means including selectively movable multi-position switching means mechanicallycontrolled by said galvanometer, said first-mentioned means being controlled by said switching means, and circuits selectively completed by said switching means for controlling the operation of said motor.

9. In a system of the class described, a normally balanced network including means for disturbing the balance of said network and a galvanometer to indicate the lack of balance thereof, a member adjustable to decrease the lack of balance of said network until a balanced condition is reestablished, anticipating means for additionally decreasing the unbalance of said network, a reversible motor for operating said member, means including a progressively movable switching mechanism, periodically and mechanically controlled by said galvanometer, said anticipating means being controlled by said switching mechanism, and circuits selectively completed by said switching means for controlling the operation of said motor.

10. In an arrangement of the class described, a normally balanced system .including a galvanometer provided with a movable needle, means for disturbing the balance of said system whereby said galvanometer needle is operated in response to said lack of balance, L:mechanism for periodically determining the .position of said galvanometer needle, reversible, selectively rotatable, multposition switching means controlled by said mechanism, a movable member, and operating means including a reversible motor and circuits therefor to move said member to restore the balance of said system, said circuits being completed by said switching means.

l1. In an arrangement of the class described, a normally balanced system, a galvanometer provided with a needle, said galvanometer being connected across normally neutral points of said system, means for disturbing the balance of said vsystem whereby said galvanometer needle is operated, reversibly movable multiposition switching means, mechanism for translating motion of the galvanometer needleniember, operating means or said member including a reversible motor and circuits therefor controlled by said switching means whereby said motor moves said member to restore the balance of said system.

l2. In an arrangement of the class described, a normally balanced system vanometer connected across neutral points thereof, said galvanometer being provided with into corresponding vmovement of said switching means, a movable having a gai-,

aneedle, means for disturbing the balance 'oi said system whereby said galvanometer needle is 

